Abstract
In this paper, we present some conceptual and experimental results obtained from the integration of a Robotics Cognitive Architecture (RCA) with an embedded Physics simulator. The RCA used, CORTEX, is based on a highly efficient, distributed working memory (WM) called Deep State Representation (DSR). This WM already provides a basic ontology, state persistency, geometric and logical relationships among elements and tools to read, update and reason about its contents. The hypothesis that we want to explore here is that integrating a physics simulator into the architecture facilitates the enacting of a series of additional functionalities that, otherwise, would require extensive coding and debugging. Also, we characterize these functionalities in broad types according to the kind of problem they tackle, including occlusion, model-based perception, self-calibration, scene’s structural stability and human activity interpretation. To show the results of these experiments, we use CoppeliaSim as the embedded simulator, and a Kinova Gen3 robotic arm as the real scenario. The simulator is kept synchronized with the stream of real events and, depending on the current task, several queries are computed, and the results projected to the working memory, where the participating agents can take advantage of them to improve the overall performance.
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- 1.
Bullet, ODE, Newton or Vortex.
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Acknowledgments
This work has been partially supported by the Feder funds and by the Extremaduran Goverment (projects GR21018 and IB18056), the MICINN RTI2018-099522-B-C42, by the Feder project 0770\(\_\)EuroAGE2\(\_\)4\(\_\)E (Interreg V-A Portugal-Spain - POCTEP), and CSIC and CAP from Universidad de la República.
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Trinidad Barnech, G., Tejera, G., Valle-Lisboa, J., Núñez, P., Bachiller, P., Bustos, P. (2023). Initial Results with a Simulation Capable Robotics Cognitive Architecture. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 590. Springer, Cham. https://doi.org/10.1007/978-3-031-21062-4_50
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